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<!-- doxytag: class="moltk::Rotation3D" -->
<p><a class="el" href="classmoltk_1_1Rotation3D.html" title="Rotation3D represents a rotation matrix.">Rotation3D</a> represents a rotation matrix.  
 <a href="classmoltk_1_1Rotation3D.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="Rotation3D_8hpp_source.html">Rotation3D.hpp</a>&gt;</code></p>
<div class="dynheader">
Collaboration diagram for moltk::Rotation3D:</div>
<div class="dyncontent">
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<area shape="rect" id="node2" href="classmoltk_1_1Rotation3D_1_1Row.html" title="One row of three numbers in a Rotation3D rotation matrix." alt="" coords="5,5,163,32"/></map>
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<p><a href="classmoltk_1_1Rotation3D-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">One row of three numbers in a <a class="el" href="classmoltk_1_1Rotation3D.html" title="Rotation3D represents a rotation matrix.">Rotation3D</a> rotation matrix.  <a href="classmoltk_1_1Rotation3D_1_1Row.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#afb4fca89fdebdae6900156bbcfe3d100">Rotation3D</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#afa9998202d1e6d8559eda3712d0f92e7">Rotation3D</a> (const <a class="el" href="namespacemoltk_1_1units.html#a0f80bfeb5b82472c01b5611877ab75eb">units::Angle</a> &amp;angle, const <a class="el" href="classmoltk_1_1UnitVector3D.html">UnitVector3D</a> &amp;unit_vector)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a8e0ca62bf96abda84a36b418f97eab59">Rotation3D</a> (const <a class="el" href="classmoltk_1_1Quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a93cd577dd17fa9cbf1ba341baeb64ca1">set_from_angle_about_unit_vector</a> (const <a class="el" href="namespacemoltk_1_1units.html#a0f80bfeb5b82472c01b5611877ab75eb">units::Angle</a> &amp;angle, const <a class="el" href="classmoltk_1_1UnitVector3D.html">UnitVector3D</a> &amp;unit_vector)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a7509d7abc00a0349c45992e2471bd562">set_from_quaternion</a> (const <a class="el" href="classmoltk_1_1Quaternion.html">Quaternion</a> &amp;quaternion)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a82aa6df247eedb90deb6a5b5e2d98b16">operator[]</a> (size_t ix) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a76aab190b090d6e71b3d4ebdb16d7c14">operator*</a> (const <a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a> &amp;rhs) const </td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a533ee2bc725541f6dfbf8e8e9769dbc1">set_from_elements</a> (<a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e00, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e01, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e02, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e10, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e11, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e12, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e20, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e21, <a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a> e22)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#aed00177e05c497a889a93d43ad1c92b1">operator[]</a> (size_t ix)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a400503bde84c8198dfd791f29b7be91c">row0</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a69bdf57177ae3bdf6738020d115306a5">row1</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmoltk_1_1Rotation3D.html#a9cbd4ba1b41c2387dde1b17ca4145c32">row2</a></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classmoltk_1_1Rotation3D.html" title="Rotation3D represents a rotation matrix.">Rotation3D</a> represents a rotation matrix. </p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="afb4fca89fdebdae6900156bbcfe3d100"></a><!-- doxytag: member="moltk::Rotation3D::Rotation3D" ref="afb4fca89fdebdae6900156bbcfe3d100" args="()" -->
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          <td class="memname">moltk::Rotation3D::Rotation3D </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<a class="anchor" id="afa9998202d1e6d8559eda3712d0f92e7"></a><!-- doxytag: member="moltk::Rotation3D::Rotation3D" ref="afa9998202d1e6d8559eda3712d0f92e7" args="(const units::Angle &amp;angle, const UnitVector3D &amp;unit_vector)" -->
<div class="memitem">
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          <td class="memname">moltk::Rotation3D::Rotation3D </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="namespacemoltk_1_1units.html#a0f80bfeb5b82472c01b5611877ab75eb">units::Angle</a> &amp;&#160;</td>
          <td class="paramname"><em>angle</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classmoltk_1_1UnitVector3D.html">UnitVector3D</a> &amp;&#160;</td>
          <td class="paramname"><em>unit_vector</em>&#160;</td>
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          <td>)</td>
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<div class="memdoc">

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<a class="anchor" id="a8e0ca62bf96abda84a36b418f97eab59"></a><!-- doxytag: member="moltk::Rotation3D::Rotation3D" ref="a8e0ca62bf96abda84a36b418f97eab59" args="(const Quaternion &amp;quaternion)" -->
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          <td class="memname">moltk::Rotation3D::Rotation3D </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classmoltk_1_1Quaternion.html">Quaternion</a> &amp;&#160;</td>
          <td class="paramname"><em>quaternion</em></td><td>)</td>
          <td><code> [explicit]</code></td>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a76aab190b090d6e71b3d4ebdb16d7c14"></a><!-- doxytag: member="moltk::Rotation3D::operator*" ref="a76aab190b090d6e71b3d4ebdb16d7c14" args="(const Rotation3D &amp;rhs) const " -->
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          <td class="memname"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a> moltk::Rotation3D::operator* </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a> &amp;&#160;</td>
          <td class="paramname"><em>rhs</em></td><td>)</td>
          <td> const</td>
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<div class="memdoc">

</div>
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<a class="anchor" id="a82aa6df247eedb90deb6a5b5e2d98b16"></a><!-- doxytag: member="moltk::Rotation3D::operator[]" ref="a82aa6df247eedb90deb6a5b5e2d98b16" args="(size_t ix) const " -->
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          <td class="memname">const <a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a>&amp; moltk::Rotation3D::operator[] </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>ix</em></td><td>)</td>
          <td> const<code> [inline]</code></td>
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<a class="anchor" id="aed00177e05c497a889a93d43ad1c92b1"></a><!-- doxytag: member="moltk::Rotation3D::operator[]" ref="aed00177e05c497a889a93d43ad1c92b1" args="(size_t ix)" -->
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          <td class="memname"><a class="el" href="classmoltk_1_1Rotation3D_1_1Row.html">Row</a>&amp; moltk::Rotation3D::operator[] </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>ix</em></td><td>)</td>
          <td><code> [inline, protected]</code></td>
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<a class="anchor" id="a93cd577dd17fa9cbf1ba341baeb64ca1"></a><!-- doxytag: member="moltk::Rotation3D::set_from_angle_about_unit_vector" ref="a93cd577dd17fa9cbf1ba341baeb64ca1" args="(const units::Angle &amp;angle, const UnitVector3D &amp;unit_vector)" -->
<div class="memitem">
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          <td class="memname"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a>&amp; moltk::Rotation3D::set_from_angle_about_unit_vector </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="namespacemoltk_1_1units.html#a0f80bfeb5b82472c01b5611877ab75eb">units::Angle</a> &amp;&#160;</td>
          <td class="paramname"><em>angle</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classmoltk_1_1UnitVector3D.html">UnitVector3D</a> &amp;&#160;</td>
          <td class="paramname"><em>unit_vector</em>&#160;</td>
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<a class="anchor" id="a533ee2bc725541f6dfbf8e8e9769dbc1"></a><!-- doxytag: member="moltk::Rotation3D::set_from_elements" ref="a533ee2bc725541f6dfbf8e8e9769dbc1" args="(Real e00, Real e01, Real e02, Real e10, Real e11, Real e12, Real e20, Real e21, Real e22)" -->
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<div class="memproto">
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          <td class="memname"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a>&amp; moltk::Rotation3D::set_from_elements </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e00</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e01</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e02</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e10</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e11</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e12</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e20</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e21</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="namespacemoltk.html#afe6fbd8f5686b34143c2742fcc97292c">Real</a>&#160;</td>
          <td class="paramname"><em>e22</em>&#160;</td>
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        <tr>
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          <td>)</td>
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<div class="memdoc">

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<a class="anchor" id="a7509d7abc00a0349c45992e2471bd562"></a><!-- doxytag: member="moltk::Rotation3D::set_from_quaternion" ref="a7509d7abc00a0349c45992e2471bd562" args="(const Quaternion &amp;quaternion)" -->
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          <td class="memname"><a class="el" href="classmoltk_1_1Rotation3D.html">Rotation3D</a>&amp; moltk::Rotation3D::set_from_quaternion </td>
          <td>(</td>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a400503bde84c8198dfd791f29b7be91c"></a><!-- doxytag: member="moltk::Rotation3D::row0" ref="a400503bde84c8198dfd791f29b7be91c" args="" -->
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<a class="anchor" id="a69bdf57177ae3bdf6738020d115306a5"></a><!-- doxytag: member="moltk::Rotation3D::row1" ref="a69bdf57177ae3bdf6738020d115306a5" args="" -->
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<a class="anchor" id="a9cbd4ba1b41c2387dde1b17ca4145c32"></a><!-- doxytag: member="moltk::Rotation3D::row2" ref="a9cbd4ba1b41c2387dde1b17ca4145c32" args="" -->
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>moltk/<a class="el" href="Rotation3D_8hpp_source.html">Rotation3D.hpp</a></li>
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